Decentralized Control of Application-based Formation of Vehicles and its Stability Analysis

This paper investigates the application perspective of decentralized control of desired formation of vehicles with the use of algebraic graph theory. A feedback control is created using relative information in between a vehicle and its adjacent neighbors in the communication graph G. The necessary and sufficient condition for existence of an adequate decentralized stabilizing feedback and the relationship between rate of convergence into formation and eigen values of the graph Laplacian is utilized for analyzing the stability of different application based formation of vehicles.